Device and method for determining driver distraction based on jerk and vehicle system
阅读说明:本技术 基于急动度确定驾驶员分心的装置和方法及车辆系统 (Device and method for determining driver distraction based on jerk and vehicle system ) 是由 金镇权 金三龙 尹谕进 柳成淑 李活利 李秉俊 于 2018-11-15 设计创作,主要内容包括:本发明提供用于基于急动度确定驾驶员分心的装置和方法以及车辆系统。装置包括:急动度计算处理器,用于基于车辆行驶时收集的行驶信息计算车辆的横向急动度;异常事件检测处理器,用于基于所收集的行驶信息检测定义在正常行驶期间出现横向急动度的情况的异常事件;以及确定处理器,用于通过将计算出的横向急动度与参考值进行比较来检测车辆的过度转向,并且基于所检测的过度转向和异常事件确定驾驶员分心。(The invention provides a device and a method for determining driver distraction based on jerk and a vehicle system. The device comprises: a jerk calculation processor for calculating a lateral jerk of the vehicle based on the travel information collected while the vehicle is traveling; an abnormal event detection processor for detecting an abnormal event defining a case where a lateral jerk occurs during normal running, based on the collected running information; and a determination processor for detecting oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and determining driver distraction based on the detected oversteer and the abnormal event.)
1, an apparatus for determining driver distraction based on jerk, the apparatus comprising:
a jerk calculation processor configured to calculate a lateral jerk of a vehicle based on travel information collected while the vehicle is traveling;
an abnormal event detection processor configured to detect an abnormal event defining a case where the lateral jerk occurs during normal running, based on the collected running information; and
a determination processor configured to detect oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and determine driver distraction based on the detected oversteer and an abnormal event.
2. The apparatus of claim 1, wherein the determination processor is configured to:
comparing the lateral jerk calculated at the specific time with the th reference value, and
determining the oversteer when the lateral jerk calculated at the specific time is greater than the -th reference value.
3. The apparatus of claim 1, wherein the determination processor is configured to:
comparing the lateral jerk cumulatively calculated during the predetermined period with a second reference value; and is
Determining the oversteer when the cumulatively calculated lateral jerk is greater than the second reference value.
4. The apparatus of claim 1, wherein the determination processor is configured to:
determining that the driver is distracted when the oversteer is detected and the abnormal event is not detected.
5. The apparatus of claim 1, wherein the driving information includes a lateral acceleration, and
wherein the jerk calculation processor is configured to:
and calculating the lateral jerk based on the low-frequency signal of the lateral acceleration.
6. The apparatus of claim 5, wherein the jerk calculation processor is configured to:
calculating a difference between a th low frequency signal of the lateral acceleration at a th predetermined time and a second low frequency signal of the lateral acceleration at a second predetermined time;
dividing the difference by the sampling time, thereby calculating the lateral jerk.
7. The apparatus of claim 1, wherein the abnormal event comprises at least of a road surface adverse event, a curved road driving event, and a lane change event.
8. The apparatus according to claim 7, wherein the running information includes at least of lateral acceleration and longitudinal acceleration, and
wherein the abnormal event detection processor is configured to:
detecting the road surface adverse event based on a level of a high-frequency signal of the lateral acceleration or the longitudinal acceleration.
9. The apparatus of claim 8, wherein the abnormal event detection processor is configured to:
determining the road surface adverse event when a high-frequency component equal to or greater than a predetermined level is detected within a predetermined period of time.
10. The apparatus according to claim 7, wherein the running information includes at least of a steering angle and a vehicle speed, and
wherein the abnormal event detection processor is configured to:
analyzing a lateral behavior of the vehicle based on the steering angle and the vehicle speed; and
determining the curved road driving event when the lateral speed is maintained over a predetermined time.
11. The apparatus according to claim 7, wherein the running information includes at least of a steering angle and a vehicle speed, and
wherein the abnormal event detection processor is configured to:
analyzing a lateral behavior of the vehicle based on the steering angle and the vehicle speed; and
determining the lane change event when a lateral displacement corresponding to a lane width occurs.
12. The apparatus according to claim 7, wherein the travel information includes forward image recognition information of the vehicle, and
wherein the abnormal event detection processor is configured to:
determining at least of the curved road driving event and the lane change event based on the front image recognition information.
13. The apparatus of claim 1, further comprising:
a warning controller configured to output a warning signal when it is determined that the driver is distracted.
14, a method for determining driver distraction based on jerk, the method comprising the steps of:
determining, by a jerk calculation processor, a lateral jerk of a vehicle based on travel information collected while the vehicle is traveling;
detecting, by an abnormal event detection processor, an abnormal event defining a situation in which the lateral jerk occurs during normal running based on the collected running information; and
detecting, by a determination processor, oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and determining driver distraction based on the detected oversteer and the abnormal event.
15. The method of claim 14, wherein determining the driver distraction comprises:
comparing the lateral jerk calculated at a specific time with an th reference value, and
determining the oversteer when the lateral jerk calculated at the specific time is greater than the th reference value.
16. The method of claim 14, wherein determining the driver distraction comprises:
comparing the lateral jerk cumulatively calculated during the predetermined period with a second reference value; and is
Determining the oversteer when the cumulatively calculated lateral jerk is greater than the second reference value.
17. The method of claim 14, wherein determining the driver distraction comprises:
determining the driver distraction when the oversteer is detected and the abnormal event is not detected.
18. The method of claim 14, wherein calculating the lateral jerk comprises:
calculating a difference between a th low frequency signal of the lateral acceleration at a th predetermined time and a second low frequency signal of the lateral acceleration at a second predetermined time;
the difference is divided by the sampling time.
19. The method of claim 14, wherein the abnormal events include at least of a road surface adverse event, a curved road driving event, and a lane change event.
20, A vehicle system, comprising:
a sensor configured to detect travel information while the vehicle is traveling; and
a driver distraction determination device configured to:
calculating a lateral jerk of the vehicle based on the traveling information detected by the sensor,
detecting an abnormal event defining a situation in which the lateral jerk occurs during normal running based on the running information,
detecting oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and
determining driver distraction based on the detected oversteer and the abnormal event.
Technical Field
The present disclosure relates to an apparatus and method for determining driver distraction based on jerk (jerk) and a vehicle system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
In general, vehicle systems may detect the state of the driver while driving or may detect a change in driving pattern, and may determine driver distraction.
As an example, a vehicle system may monitor steering information (such as the steering angle and steering torque of the vehicle) or lane detection information (such as lateral position and azimuth in the lane), and may detect oversteer or fast steering, thereby determining driver distraction from the detected oversteer or fast steering.
However, it has been found that when detecting oversteer or fast steering using steering information or lane detection information, the performance of the driver distraction determination logic of the vehicle system may be greatly affected by the vehicle speed.
As an example, a low speed, a low steering ratio, or a light steering feel of the vehicle causes an undesirably high sensitivity in detecting information for determining the logic, and thus increases an error in determining the driver's distraction.
It has also been found that the high speed, high steering ratio or heavy steering feel of the vehicle substantially destroys the ability to detect information used to determine logic and thus increases the likelihood that driver distraction cannot be detected.
Disclosure of Invention
The present disclosure solves the above-mentioned problems occurring in the prior art while the advantages achieved by the prior art remain unchanged.
The aspect of the present disclosure provides an apparatus and method and a vehicle system for stably detecting driver distraction without being greatly affected by speed and steering information of a vehicle by monitoring a level of lateral jerk and detecting driver distraction.
The technical problems to be solved by the inventive concept are not limited to the above-described problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains.
According to an aspect of the present disclosure, an apparatus for determining driver distraction based on jerk may include a jerk calculation processor configured to calculate lateral jerk of a vehicle based on travel information collected while the vehicle is traveling, an abnormal event detection processor configured to detect an abnormal event defining a situation in which the lateral jerk occurs during normal traveling based on the collected travel information, and a determination processor configured to detect oversteer of the vehicle by comparing the calculated lateral jerk with a reference value and determine driver distraction from the detected oversteer and the abnormal event.
The determination processor may be configured to compare the lateral jerk calculated at the specific time with the th reference value, and determine the oversteer when the lateral jerk calculated at the specific time is greater than the th reference value.
The determination processor may be configured to compare the cumulatively calculated lateral jerk during the predetermined period with a second reference value, and determine oversteer when the cumulatively calculated lateral jerk is greater than the second reference value.
The determination processor may be configured to determine driver distraction when oversteer is detected and when no abnormal event is detected.
The travel information may include lateral acceleration. The jerk calculation processor may be configured to calculate the lateral jerk based on the low frequency signal of the lateral acceleration.
The jerk calculation processor may be configured to calculate a difference between the th low frequency signal of the lateral acceleration at the th predetermined time and the second low frequency signal of the lateral acceleration at the second predetermined time, divide the difference by the sampling time, and thereby calculate the lateral jerk.
The abnormal events may include at least of a road surface adverse event, a curved road driving event, or a lane change event.
The abnormal event detection processor may be configured to detect a road surface adverse event based on a level of a high frequency signal of the lateral acceleration or the longitudinal acceleration.
The exception event detection processor may be configured to: when a high frequency component equal to or greater than a predetermined level is detected, a road surface irregularity is determined.
The abnormal event detection processor may be configured to analyze a lateral behavior of the vehicle based on the steering angle and the vehicle speed, and determine a curved road driving event when the lateral speed is maintained over a predetermined time.
The abnormal event detection processor may be configured to analyze a lateral behavior of the vehicle based on the steering angle and the vehicle speed, and determine a lane change event when a lateral displacement corresponding to a lane width occurs.
The abnormal event detection processor may be configured to detect at least of a curved road driving event and a lane change event based on the forward image recognition information.
The apparatus may further include a warning controller configured to output a warning signal when driver distraction is determined.
According to another aspect of the present disclosure, a method for determining driver distraction based on jerk may include calculating, by a jerk calculation processor, a lateral jerk of a vehicle based on travel information collected while the vehicle is traveling, detecting, by an abnormal event detection processor, an abnormal event defining a situation in which the lateral jerk occurs during normal travel based on the collected travel information, and detecting, by a determination processor, oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and determining driver distraction based on the detected oversteer and the abnormal event.
According to another aspect of the present disclosure, a vehicle system may include at least sensors configured to detect travel information while a vehicle is traveling, and a driver distraction determination device configured to calculate a lateral jerk of the vehicle based on the travel information detected by the at least sensors, detect an abnormal event defining a situation in which the lateral jerk occurs during normal travel based on the travel information, detect oversteer of the vehicle by comparing the calculated lateral jerk with a reference value, and determine driver distraction based on the detected oversteer and the abnormal event.
Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
Drawings
In order that the disclosure may be well understood, various forms thereof will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a diagram illustrating a vehicle system employing an apparatus for determining driver distraction based on jerk;
FIG. 2 is a block diagram showing a configuration of an apparatus for determining driver distraction based on jerk;
FIGS. 3, 4A and 4B are diagrams illustrating operation of an apparatus for determining driver distraction based on jerk;
FIG. 5 is a flow chart illustrating operation of a method for determining driver distraction based on jerk; and
FIG. 6 is a block diagram illustrating a configuration of a computing system for a method for determining driver distraction based on jerk.
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.
Detailed Description
The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.
In adding reference numerals to elements of each figure, it should be noted that the same elements have the same numerals although the same elements are shown on different figures. In addition, in describing a form of the present disclosure, if it is determined that detailed description of related well-known configurations or functions obscure the gist of the present disclosure, they are omitted.
In describing the elements of the form of the present disclosure, the words , second, A, B, (a), (b), etc. may be used herein only to distinguish elements from another elements, but not to limit the corresponding elements, regardless of the nature, direction, or order of the corresponding elements.
FIG. 1 is a diagram showing a vehicle system employing an apparatus for determining driver distraction based on jerk in versions of the present disclosure.
As shown in fig. 1, the vehicle system may include means for determining driver distraction based on jerk (hereinafter referred to as "driver distraction determination means") to determine driver distraction while the vehicle 1 is traveling.
In this case, the vehicle 1 may include at least sensors for detecting the running information while running.
The driver
Herein, jerk may be a vector for specifying a rate of change of acceleration, and may be expressed as a third derivative with respect to displacement time. For example, when the vehicle 1 starts at the start time and stops at the end time, the jerk may be expressed as a value obtained by differentiating the lateral acceleration in the interval between the start time and the end time.
In this case, the driver
Herein, when a predefined abnormal event occurs, the driver
A description will be given of a detailed configuration of forms of the driver
The driver
Further, the driver
Fig. 2 is a block diagram showing the configuration of an apparatus for determining driver distraction based on jerk in versions of the present disclosure.
Referring to fig. 2, the driver
The
The
Herein, the input module may include key buttons, and may further include a mouse, a joystick, a rotary shuttle, a stylus, and the like. Also, the input module may include soft keys implemented on the display.
The output module may include a display, and may also include an acoustic signal output module, such as a speaker or a buzzer. In this case, if a touch sensor (such as a touch film, a touch sheet, or a touch pad) is installed in the display, the display may operate as a touch screen and may be implemented in a form in which the input module is integrated with the output module.
In this case, the display may include at least of a Liquid Crystal Display (LCD), a thin film transistor-LCD (TFT-LCD), an Organic Light Emitting Diode (OLED), a flexible display, and a three-dimensional (3D) display.
The
Herein, the communication module may include a module for supporting vehicle network communication such as Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, and flexible ray communication.
Further, the communication module may include a module for wireless internet access or a module for short-range communication. Herein, the wireless internet technology may include Wireless Local Area Network (WLAN), wireless broadband (Wibro), wireless fidelity (Wi-Fi), and the like. Short-range communication technologies may include bluetooth, ZigBee, Radio Frequency Identification (RFID), infrared data association (IrDA), and the like.
The storage section 140 may store data, algorithms, and the like required to operate the driver
The storage part 140 may store the traveling information of the vehicle 1 received via the
Herein, the storage part 140 may include a storage medium such as a Random Access Memory (RAM), a static RAM (sram), a Read Only Memory (ROM), a programmable ROM (prom), and an electrically erasable prom (eeprom).
A flow of detailed operations of the
Therefore, a description will be given of detailed operations of the
First, the
As an example, when receiving lateral acceleration information via the
The
Further, when the lateral acceleration information or the longitudinal acceleration information is received via the
The information gatherer 150 may transmit the detected high frequency component of the
Herein, the
As an example, each of the
Further, the
The
In this case, the
[ equation 1]
In equation 1 above, lat _ jerk may represent the lateral jerk, lat _ acc may represent the low frequency signal of the
When the calculation of the lateral jerk is completed using equation 1 above, the
Meanwhile, the
The abnormal
Herein, the abnormal event may correspond to an event in which a lateral jerk can occur during normal driving. As an example, the abnormal event may correspond to a road surface adverse event, a curved road driving event, a lane change event, or the like.
In this case, the abnormal
First, fig. 4A shows the frequency component of the lateral acceleration. Fig. 4B shows the frequency component of the longitudinal acceleration.
As shown in fig. 4A and 4B, each of the lateral acceleration signal and the longitudinal acceleration signal may include a high-frequency noise component. The high frequency component of each of the lateral acceleration signal and the longitudinal acceleration signal may be generated by white noise of the sensor itself, vibration of the vehicle 1 of fig. 1 caused by the engine, or shaking of the vehicle 1 due to a protrusion in the road. Among the causes of generating the high-frequency component, white noise of the sensor itself and vibration of the vehicle 1 caused by the engine may be sources of noise that is continuously generated while driving, but a protrusion in the road may be a source of noise that is intermittently generated. Therefore, a case where a high-frequency component whose level is temporarily high (for example, a level higher than 2 Hz) in an interval within a predetermined time is detected may be defined as an abnormal event so as not to detect oversteer.
Accordingly, the abnormal-
As shown by
Accordingly, the abnormal
Furthermore, in curved road driving situations and/or lane change situations, lateral jerks may occur during normal driving, which have an effect on the ride quality. Thus, a curved road driving situation and/or a lane change situation may be defined as an abnormal event so as not to detect oversteer.
Accordingly, the abnormal
As an example, the abnormal-
When a lateral displacement (the magnitude of the lateral displacement is lane widths, e.g., 3m to 3.5m) temporarily occurs, the abnormal
When the curved ground detection information and/or the lane change detection information is received from the driving assistance system, the abnormal
When a curved road driving event and/or a lane change event is detected, the abnormal
The
As an example, the
Meanwhile, when the lateral jerk value calculated at a specific time is less than or equal to the th reference value, the
As another example, the
Meanwhile, when the lateral jerk value cumulatively calculated during the predetermined time is less than or equal to the second reference value, the
When it is verified that the abnormal
When a result of determining driver distraction is received from the
As an example, the
The operation of the apparatus having the above-described configuration in the versions of the present disclosure will be described in detail.
FIG. 5 is a flow chart illustrating operation of a method of determining driver distraction based on jerk in versions of the present disclosure.
Referring to fig. 5, in operation S110, the driver
In operation S120, the driver
When the calculation of the lateral jerk is supplemented in operation S120, the driver
In fig. 5, forms are shown in performing operations S130 and S135, however, the forms are not limited thereto and any of operations S130 and S135 may be omitted according to implementation forms.
When the lateral jerk value is less than or equal to the -th reference value in operation S130 and when the cumulatively calculated lateral jerk is less than or equal to the second reference value in operation S135, the driver
Meanwhile, when the lateral jerk value is greater than the th reference value in operation S130 or when the cumulatively calculated lateral jerk is greater than the second reference value in operation S135, the driver
When an abnormal event is detected in operation S140, the driver
Meanwhile, when the abnormal event is not detected in operation S140, the driver
Fig. 6 is a block diagram illustrating a configuration of a computing system that executes the forms of method according to the present disclosure.
Referring to fig. 6, a computing system 1000 may include at least processors 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700, all connected to each other by a bus 1200.
The processor 1100 may be a Central Processing Unit (CPU) or a semiconductor device for processing instructions stored in the memory 1300 and/or the storage 1600. Each of the memory 1300 and the storage section 1600 may include various types of volatile or nonvolatile storage media. For example, memory 1300 may include Read Only Memory (ROM) and Random Access Memory (RAM).
Accordingly, the operations of a method or algorithm described in connection with the forms disclosed in this specification may be embodied directly in a hardware module, in a software module, or in a combination of the two, and executed by the processor 1100. A software module may reside on a storage medium (e.g., memory 1300 and/or storage 1600), such as RAM, flash memory, ROM, erasable programmable ROM (eprom), electrically eprom (eeprom), registers, a hard disk, a removable optical disk, or a compact disk (CD-ROM). An exemplary storage medium may be coupled to processor 1100. The processor 1100 may read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
According to forms of the present disclosure, a driver distraction determination apparatus can stably detect driver distraction without being greatly affected by speed and steering information of a vehicle by monitoring a level of lateral jerk and detecting driver distraction.
Although the present disclosure has been described with reference to exemplary forms, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the disclosure.
Accordingly, the exemplary forms of the present disclosure are not to be taken in a limiting sense, but are illustrative, and the spirit and scope of the present disclosure is not limited thereto. It should be construed that all technical equivalents to the present disclosure are included in the spirit and scope of the present disclosure.
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